APP-10064: Add "continuous" scheduling option

config/config.go

@@ -1275,11 +1275,12 @@ type JobConfig struct {
 
 // JobConfigData is the job config data that gets marshaled/unmarshaled.
 type JobConfigData struct {
-	Name     string         `json:"name"`
-	Schedule string         `json:"schedule"`
-	Resource string         `json:"resource"`
-	Method   string         `json:"method"`
-	Command  map[string]any `json:"command,omitempty"`
+	Name             string              `json:"name"`
+	Schedule         string              `json:"schedule"`
+	Resource         string              `json:"resource"`
+	Method           string              `json:"method"`
+	Command          map[string]any      `json:"command,omitempty"`
+	LogConfiguration *resource.LogConfig `json:"log_configuration,omitempty"`
 }
 
 // MarshalJSON marshals out this config.

config/proto_conversions.go

@@ -1032,6 +1032,9 @@ func JobsConfigToProto(jc *JobConfig) (*pb.JobConfig, error) {
 		}
 		protoConfig.Command = command
 	}
+	if jc.LogConfiguration != nil {
+		protoConfig.LogConfiguration = &pb.LogConfiguration{Level: strings.ToLower(jc.LogConfiguration.Level.String())}
+	}
 	return protoConfig, nil
 }
 
@@ -1049,5 +1052,14 @@ func JobsConfigFromProto(proto *pb.JobConfig, _ logging.Logger) (*JobConfig, err
 	if proto.Command != nil {
 		jobConfig.Command = proto.Command.AsMap()
 	}
+	if proto.LogConfiguration != nil {
+		if proto.GetLogConfiguration() != nil {
+			level, err := logging.LevelFromString(proto.GetLogConfiguration().Level)
+			if err != nil {
+				level = logging.INFO
+			}
+			jobConfig.LogConfiguration = &resource.LogConfig{Level: level}
+		}
+	}
 	return jobConfig, nil
 }

config/proto_conversions_test.go

@@ -1106,12 +1106,17 @@ func TestJobsConfigProtoConversions(t *testing.T) {
 			Command: map[string]any{
 				"arg1": true,
 			},
+			LogConfiguration: &resource.LogConfig{
+				Level: logging.DEBUG,
+			},
 		},
 	}
 
 	proto, err = JobsConfigToProto(&testJobConfigCommand)
 	test.That(t, err, test.ShouldBeNil)
+	test.That(t, proto.LogConfiguration.Level, test.ShouldEqual, "debug")
 	out, err = JobsConfigFromProto(proto, logger)
 	test.That(t, err, test.ShouldBeNil)
+	test.That(t, out.LogConfiguration.Level, test.ShouldEqual, logging.DEBUG)
 	test.That(t, *out, test.ShouldResemble, testJobConfigCommand)
 }

go.mod

@@ -29,7 +29,7 @@ require (
 	github.com/go-audio/audio v1.0.0
 	github.com/go-audio/transforms v0.0.0-20180121090939-51830ccc35a5
 	github.com/go-audio/wav v1.1.0
-	github.com/go-co-op/gocron/v2 v2.16.2
+	github.com/go-co-op/gocron/v2 v2.18.0
 	github.com/go-git/go-git/v5 v5.16.2
 	github.com/go-gl/mathgl v1.0.0
 	github.com/go-nlopt/nlopt v0.0.0-20230219125344-443d3362dcb5
@@ -84,7 +84,7 @@ require (
 	go.uber.org/atomic v1.11.0
 	go.uber.org/multierr v1.11.0
 	go.uber.org/zap v1.27.0
-	go.viam.com/api v0.1.490
+	go.viam.com/api v0.1.493
 	go.viam.com/test v1.2.4
 	go.viam.com/utils v0.3.1
 	goji.io v2.0.2+incompatible
@@ -274,7 +274,7 @@ require (
 	github.com/spiffe/go-spiffe/v2 v2.5.0 // indirect
 	github.com/srikrsna/protoc-gen-gotag v0.6.2 // indirect
 	github.com/stoewer/go-strcase v1.3.0 // indirect
-	github.com/stretchr/testify v1.10.0 // indirect
+	github.com/stretchr/testify v1.11.1 // indirect
 	github.com/tklauser/go-sysconf v0.3.12 // indirect
 	github.com/tklauser/numcpus v0.6.1 // indirect
 	github.com/u2takey/go-utils v0.3.1 // indirect

go.sum

@@ -355,8 +355,8 @@ github.com/go-audio/wav v1.1.0 h1:jQgLtbqBzY7G+BM8fXF7AHUk1uHUviWS4X39d5rsL2g=
 github.com/go-audio/wav v1.1.0/go.mod h1:mpe9qfwbScEbkd8uybLuIpTgHyrISw/OTuvjUW2iGtE=
 github.com/go-chi/chi/v5 v5.2.2 h1:CMwsvRVTbXVytCk1Wd72Zy1LAsAh9GxMmSNWLHCG618=
 github.com/go-chi/chi/v5 v5.2.2/go.mod h1:L2yAIGWB3H+phAw1NxKwWM+7eUH/lU8pOMm5hHcoops=
-github.com/go-co-op/gocron/v2 v2.16.2 h1:r08P663ikXiulLT9XaabkLypL/W9MoCIbqgQoAutyX4=
-github.com/go-co-op/gocron/v2 v2.16.2/go.mod h1:4YTLGCCAH75A5RlQ6q+h+VacO7CgjkgP0EJ+BEOXRSI=
+github.com/go-co-op/gocron/v2 v2.18.0 h1:DS3Uhru66q1jy/5f9V0itmi3cLXcn2b7N+duGfgT7gU=
+github.com/go-co-op/gocron/v2 v2.18.0/go.mod h1:Zii6he+Zfgy5W9B+JKk/KwejFOW0kZTFvHtwIpR4aBI=
 github.com/go-git/gcfg v1.5.1-0.20230307220236-3a3c6141e376 h1:+zs/tPmkDkHx3U66DAb0lQFJrpS6731Oaa12ikc+DiI=
 github.com/go-git/gcfg v1.5.1-0.20230307220236-3a3c6141e376/go.mod h1:an3vInlBmSxCcxctByoQdvwPiA7DTK7jaaFDBTtu0ic=
 github.com/go-git/go-billy/v5 v5.6.2 h1:6Q86EsPXMa7c3YZ3aLAQsMA0VlWmy43r6FHqa/UNbRM=
@@ -972,8 +972,8 @@ github.com/stretchr/testify v1.8.1/go.mod h1:w2LPCIKwWwSfY2zedu0+kehJoqGctiVI29o
 github.com/stretchr/testify v1.8.3/go.mod h1:sz/lmYIOXD/1dqDmKjjqLyZ2RngseejIcXlSw2iwfAo=
 github.com/stretchr/testify v1.8.4/go.mod h1:sz/lmYIOXD/1dqDmKjjqLyZ2RngseejIcXlSw2iwfAo=
 github.com/stretchr/testify v1.9.0/go.mod h1:r2ic/lqez/lEtzL7wO/rwa5dbSLXVDPFyf8C91i36aY=
-github.com/stretchr/testify v1.10.0 h1:Xv5erBjTwe/5IxqUQTdXv5kgmIvbHo3QQyRwhJsOfJA=
-github.com/stretchr/testify v1.10.0/go.mod h1:r2ic/lqez/lEtzL7wO/rwa5dbSLXVDPFyf8C91i36aY=
+github.com/stretchr/testify v1.11.1 h1:7s2iGBzp5EwR7/aIZr8ao5+dra3wiQyKjjFuvgVKu7U=
+github.com/stretchr/testify v1.11.1/go.mod h1:wZwfW3scLgRK+23gO65QZefKpKQRnfz6sD981Nm4B6U=
 github.com/tklauser/go-sysconf v0.3.12 h1:0QaGUFOdQaIVdPgfITYzaTegZvdCjmYO52cSFAEVmqU=
 github.com/tklauser/go-sysconf v0.3.12/go.mod h1:Ho14jnntGE1fpdOqQEEaiKRpvIavV0hSfmBq8nJbHYI=
 github.com/tklauser/numcpus v0.6.1 h1:ng9scYS7az0Bk4OZLvrNXNSAO2Pxr1XXRAPyjhIx+Fk=
@@ -1106,8 +1106,8 @@ go.uber.org/zap v1.13.0/go.mod h1:zwrFLgMcdUuIBviXEYEH1YKNaOBnKXsx2IPda5bBwHM=
 go.uber.org/zap v1.18.1/go.mod h1:xg/QME4nWcxGxrpdeYfq7UvYrLh66cuVKdrbD1XF/NI=
 go.uber.org/zap v1.27.0 h1:aJMhYGrd5QSmlpLMr2MftRKl7t8J8PTZPA732ud/XR8=
 go.uber.org/zap v1.27.0/go.mod h1:GB2qFLM7cTU87MWRP2mPIjqfIDnGu+VIO4V/SdhGo2E=
-go.viam.com/api v0.1.490 h1:4ARXkNJOcsHFukj/LH+kDn94nClSMLTjTlXBb+S8X+4=
-go.viam.com/api v0.1.490/go.mod h1:p/am76zx8SZ74V/F4rEAYQIpHaaLUwJgY2q3Uw3FIWk=
+go.viam.com/api v0.1.493 h1:VlOaSQkV2TYGecPHCygSs66vdojBDX3otLCGpLHRM9o=
+go.viam.com/api v0.1.493/go.mod h1:p/am76zx8SZ74V/F4rEAYQIpHaaLUwJgY2q3Uw3FIWk=
 go.viam.com/test v1.2.4 h1:JYgZhsuGAQ8sL9jWkziAXN9VJJiKbjoi9BsO33TW3ug=
 go.viam.com/test v1.2.4/go.mod h1:zI2xzosHdqXAJ/kFqcN+OIF78kQuTV2nIhGZ8EzvaJI=
 go.viam.com/utils v0.3.1 h1:Px0I6PzOAecXHfa4xGv1Z9dtO1214fVmtMMABLANZDc=

robot/impl/jobmanager_test.go

@@ -9,6 +9,7 @@ import (
 	"time"
 
 	"github.com/pion/mediadevices/pkg/prop"
+	"go.uber.org/zap/zapcore"
 	"go.viam.com/test"
 	"go.viam.com/utils"
 	"go.viam.com/utils/testutils"
@@ -71,6 +72,91 @@ func TestJobManagerDurationAndCronFromJson(t *testing.T) {
 	})
 }
 
+func TestLogLevelChange(t *testing.T) {
+	// This is created at debug level
+	logger, logs := logging.NewObservedTestLogger(t)
+
+	fakeSensorComponent := []resource.Config{
+		{
+			Model: resource.DefaultModelFamily.WithModel("fake"),
+			Name:  "sensor",
+			API:   sensor.API,
+		},
+	}
+
+	cfg := &config.Config{
+		Components: fakeSensorComponent,
+		Jobs: []config.JobConfig{
+			{
+				config.JobConfigData{
+					Name:     "fake sensor",
+					Schedule: "1s",
+					Resource: "sensor",
+					Method:   "GetReadings",
+				},
+			},
+		},
+	}
+	cfgWarn := &config.Config{
+		Components: fakeSensorComponent,
+		Jobs: []config.JobConfig{
+			{
+				config.JobConfigData{
+					Name:     "fake sensor",
+					Schedule: "1s",
+					Resource: "sensor",
+					Method:   "GetReadings",
+					LogConfiguration: &resource.LogConfig{
+						Level: logging.WARN,
+					},
+				},
+			},
+		},
+	}
+	cfgDebug := &config.Config{
+		Components: fakeSensorComponent,
+		Jobs: []config.JobConfig{
+			{
+				config.JobConfigData{
+					Name:     "fake sensor",
+					Schedule: "1s",
+					Resource: "sensor",
+					Method:   "GetReadings",
+					LogConfiguration: &resource.LogConfig{
+						Level: logging.DEBUG,
+					},
+				},
+			},
+		},
+	}
+	ctx, ctxCancelFunc := context.WithCancel(context.Background())
+	defer ctxCancelFunc()
+	lr := setupLocalRobot(t, ctx, cfg, logger)
+
+	time.Sleep(7 * time.Second)
+	test.That(t, logs.FilterMessage("Job triggered").FilterLevelExact(zapcore.DebugLevel).Len(),
+		test.ShouldBeGreaterThan, 2)
+	test.That(t, logs.FilterMessage("Job succeeded").FilterLevelExact(zapcore.DebugLevel).Len(),
+		test.ShouldBeGreaterThan, 2)
+
+	lr.Reconfigure(ctx, cfgWarn)
+	logs.TakeAll()
+	time.Sleep(7 * time.Second)
+	// update will let the previous job iteration complete first, so may be 1 or 0.
+	test.That(t, logs.FilterMessage("Job triggered").FilterLevelExact(zapcore.DebugLevel).Len(),
+		test.ShouldBeLessThanOrEqualTo, 1)
+	test.That(t, logs.FilterMessage("Job succeeded").FilterLevelExact(zapcore.DebugLevel).Len(),
+		test.ShouldBeLessThanOrEqualTo, 1)
+
+	lr.Reconfigure(ctx, cfgDebug)
+	logs.TakeAll()
+	time.Sleep(7 * time.Second)
+	test.That(t, logs.FilterMessage("Job triggered").FilterLevelExact(zapcore.DebugLevel).Len(),
+		test.ShouldBeGreaterThan, 2)
+	test.That(t, logs.FilterMessage("Job succeeded").FilterLevelExact(zapcore.DebugLevel).Len(),
+		test.ShouldBeGreaterThan, 2)
+}
+
 func TestJobManagerHistory(t *testing.T) {
 	logger := logging.NewTestLogger(t)
 
@@ -228,6 +314,119 @@ func TestJobManagerHistory(t *testing.T) {
 	})
 }
 
+// Test continuous mode, include switching to and from.
+func TestJobContinuousSchedule(t *testing.T) {
+	logger := logging.NewTestLogger(t)
+
+	fakeSensorComponent := []resource.Config{
+		{
+			Model: resource.DefaultModelFamily.WithModel("fake"),
+			Name:  "sensor",
+			API:   sensor.API,
+		},
+	}
+
+	cfg := &config.Config{
+		Components: fakeSensorComponent,
+		Jobs: []config.JobConfig{
+			{
+				config.JobConfigData{
+					Name:     "fake sensor",
+					Schedule: "1s",
+					Resource: "sensor",
+					Method:   "GetReadings",
+				},
+			},
+		},
+	}
+	cfgCron := &config.Config{
+		Components: fakeSensorComponent,
+		Jobs: []config.JobConfig{
+			{
+				config.JobConfigData{
+					Name:     "fake sensor",
+					Schedule: "*/1 * * * * *",
+					Resource: "sensor",
+					Method:   "GetReadings",
+				},
+			},
+		},
+	}
+	cfgContinuous := &config.Config{
+		Components: fakeSensorComponent,
+		Jobs: []config.JobConfig{
+			{
+				config.JobConfigData{
+					Name:     "fake sensor",
+					Schedule: "continuous",
+					Resource: "sensor",
+					Method:   "GetReadings",
+				},
+			},
+		},
+	}
+	ctx, ctxCancelFunc := context.WithCancel(context.Background())
+	defer ctxCancelFunc()
+	lr := setupLocalRobot(t, ctx, cfg, logger)
+	o, _, addr := robottestutils.CreateBaseOptionsAndListener(t)
+	err := lr.StartWeb(ctx, o)
+	test.That(t, err, test.ShouldBeNil)
+	robotClient, err := rclient.New(ctx, addr, logger)
+	test.That(t, err, test.ShouldBeNil)
+	defer robotClient.Close(ctx)
+
+	// Start running in 1s duration mode. Expect last 2 latest success timestamps differ by > 900ms
+	testutils.WaitForAssertionWithSleep(t, time.Second, 10, func(tb testing.TB) {
+		tb.Helper()
+		ms, err := robotClient.MachineStatus(ctx)
+		test.That(tb, err, test.ShouldBeNil)
+		test.That(tb, len(ms.JobStatuses), test.ShouldEqual, 1)
+		jh, ok := ms.JobStatuses["fake sensor"]
+		test.That(tb, ok, test.ShouldBeTrue)
+		successes := jh.RecentSuccessfulRuns
+		test.That(tb, len(successes), test.ShouldBeGreaterThanOrEqualTo, 2)
+		if len(successes) >= 2 {
+			test.That(tb, successes[len(successes)-1].Sub(successes[len(successes)-2]), test.ShouldBeGreaterThan, 900*time.Millisecond)
+		}
+	})
+
+	// Switch from duration to continuous. Should run more than 10x. Expect latest success timestamp - earliest < 900ms
+	lr.Reconfigure(ctx, cfgContinuous)
+	testutils.WaitForAssertionWithSleep(t, time.Second, 10, func(tb testing.TB) {
+		tb.Helper()
+		ms, err := robotClient.MachineStatus(ctx)
+		test.That(tb, err, test.ShouldBeNil)
+		test.That(tb, len(ms.JobStatuses), test.ShouldEqual, 1)
+		jh, ok := ms.JobStatuses["fake sensor"]
+		test.That(tb, ok, test.ShouldBeTrue)
+		successes := jh.RecentSuccessfulRuns
+		test.That(tb, ok, test.ShouldBeTrue)
+		// increase this if bumping history size
+		test.That(tb, len(successes), test.ShouldBeGreaterThanOrEqualTo, 10)
+		if len(successes) >= 2 {
+			test.That(tb, successes[len(successes)-1].Sub(successes[0]), test.ShouldBeLessThan, 900*time.Millisecond)
+		}
+	})
+
+	// Switch from continuous to 1s cron. Expect last 2 latest success timestamps differ by > 900ms
+	lr.Reconfigure(ctx, cfgCron)
+	testutils.WaitForAssertionWithSleep(t, time.Second, 10, func(tb testing.TB) {
+		tb.Helper()
+		ms, err := robotClient.MachineStatus(ctx)
+		test.That(tb, err, test.ShouldBeNil)
+		test.That(tb, len(ms.JobStatuses), test.ShouldEqual, 1)
+		jh, ok := ms.JobStatuses["fake sensor"]
+		test.That(tb, ok, test.ShouldBeTrue)
+		successes := jh.RecentSuccessfulRuns
+		test.That(tb, ok, test.ShouldBeTrue)
+		// History still contains runs from prev. If stored size is 10, we still expect 10 here.
+		test.That(tb, len(successes), test.ShouldBeGreaterThanOrEqualTo, 10)
+		if len(successes) >= 2 {
+			test.That(tb, successes[len(successes)-1].Sub(successes[len(successes)-2]), test.ShouldBeGreaterThan, 900*time.Millisecond)
+		}
+	})
+}
+
 func TestJobManagerConfigChanges(t *testing.T) {
 	logger := logging.NewTestLogger(t)
 	model := resource.DefaultModelFamily.WithModel(utils.RandomAlphaString(8))